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Swap yaw and pitch in camera computation. Add functions to convert view matrix to camera position, and camera position to camera yaw pitch roll.

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This commit is contained in:
yunfeibai
2017-06-01 15:30:37 -07:00
parent 4388a6ea02
commit e6d1a8cf97
74 changed files with 347 additions and 281 deletions
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184
examples/SharedMemory/PhysicsClientC_API.cpp
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@@ -1930,6 +1930,86 @@ void b3RequestCameraImageSetShadow(b3SharedMemoryCommandHandle commandHandle, in
command->m_updateFlags |= REQUEST_PIXEL_ARGS_SET_SHADOW;
}
void b3ComputeYawPitchRollFromPosition(const float cameraPosition[3], const float cameraTargetPosition[3], const float cameraUp[3], int upAxis, float* cameraDistance, float* cameraYaw, float* cameraPitch)
{
b3Vector3 camPos = b3MakeVector3(cameraPosition[0], cameraPosition[1], cameraPosition[2]);
b3Vector3 camTargetPos = b3MakeVector3(cameraTargetPosition[0], cameraTargetPosition[1], cameraTargetPosition[2]);
b3Vector3 camUpVector = b3MakeVector3(cameraUp[0], cameraUp[1], cameraUp[2]);
camUpVector.normalize();
*cameraDistance = (camPos - camTargetPos).length();
b3Vector3 eyePos = camPos - camTargetPos;
b3Vector3 eyeInitPos = b3MakeVector3(0, 0, 0);
int forwardAxis = -1;
switch (upAxis)
{
case 1:
forwardAxis = 2;
break;
case 2:
forwardAxis = 1;
break;
default:
return;
};
eyeInitPos[forwardAxis] = -(*cameraDistance);
eyeInitPos.normalize();
eyePos.normalize();
b3Quaternion rot = b3ShortestArcQuat(eyeInitPos, eyePos);
btScalar yawRad;
btScalar pitchRad;
btScalar rollRad;
switch (upAxis)
{
case 1:
rot.getEulerZYX(rollRad, yawRad, pitchRad);
pitchRad = -pitchRad;
break;
case 2:
rot.getEulerZYX(yawRad, rollRad, pitchRad);
break;
default:
return;
};
*cameraYaw = yawRad/b3Scalar(0.01745329251994329547);
*cameraPitch = pitchRad/b3Scalar(0.01745329251994329547);
float cameraRoll = rollRad/b3Scalar(0.01745329251994329547);
printf("camera roll: %f\n", cameraRoll);
}
void b3ComputePositionFromViewMatrix(const float viewMatrix[16], float cameraPosition[3], float cameraTargetPosition[3], float cameraUp[3])
{
b3Matrix3x3 r(viewMatrix[0], viewMatrix[4], viewMatrix[8], viewMatrix[1], viewMatrix[5], viewMatrix[9], viewMatrix[2], viewMatrix[6], viewMatrix[10]);
b3Vector3 p = b3MakeVector3(viewMatrix[12], viewMatrix[13], viewMatrix[14]);
b3Transform t(r,p);
b3Transform tinv = t.inverse();
b3Matrix3x3 basis = tinv.getBasis();
b3Vector3 origin = tinv.getOrigin();
printf("basis: %f, %f, %f, %f, %f, %f, %f, %f, %f\n", basis[0][0], basis[0][1], basis[0][2], basis[1][0], basis[1][1], basis[1][2], basis[2][0], basis[2][1], basis[2][2]);
printf("origin: %f, %f, %f\n", origin[0], origin[1], origin[2]);
b3Vector3 s = b3MakeVector3(basis[0][0], basis[1][0], basis[2][0]);
b3Vector3 u = b3MakeVector3(basis[0][1], basis[1][1], basis[2][1]);
b3Vector3 f = b3MakeVector3(-basis[0][2], -basis[1][2], -basis[2][2]);
b3Vector3 eye = origin;
cameraPosition[0] = eye[0];
cameraPosition[1] = eye[1];
cameraPosition[2] = eye[2];
b3Vector3 center = f + eye;
cameraTargetPosition[0] = center[0];
cameraTargetPosition[1] = center[1];
cameraTargetPosition[2] = center[2];
cameraUp[0] = u[0];
cameraUp[1] = u[1];
cameraUp[2] = u[2];
}
void b3ComputeViewMatrixFromPositions(const float cameraPosition[3], const float cameraTargetPosition[3], const float cameraUp[3], float viewMatrix[16])
{
b3Vector3 eye = b3MakeVector3(cameraPosition[0], cameraPosition[1], cameraPosition[2]);
@@ -1970,77 +2050,43 @@ void b3ComputeViewMatrixFromYawPitchRoll(const float cameraTargetPosition[3], fl
b3Vector3 camPos;
b3Vector3 camTargetPos = b3MakeVector3(cameraTargetPosition[0], cameraTargetPosition[1], cameraTargetPosition[2]);
b3Vector3 eyePos = b3MakeVector3(0, 0, 0);
int forwardAxis(-1);
{
switch (upAxis)
{
case 1:
{
forwardAxis = 0;
eyePos[forwardAxis] = -distance;
camForward = b3MakeVector3(eyePos[0], eyePos[1], eyePos[2]);
if (camForward.length2() < B3_EPSILON)
{
camForward.setValue(1.f, 0.f, 0.f);
}
else
{
camForward.normalize();
}
b3Scalar rollRad = roll * b3Scalar(0.01745329251994329547);
b3Quaternion rollRot(camForward, rollRad);
camUpVector = b3QuatRotate(rollRot, b3MakeVector3(0, 1, 0));
//gLightPos = b3MakeVector3(-50.f,100,30);
break;
}
case 2:
{
forwardAxis = 1;
eyePos[forwardAxis] = -distance;
camForward = b3MakeVector3(eyePos[0], eyePos[1], eyePos[2]);
if (camForward.length2() < B3_EPSILON)
{
camForward.setValue(1.f, 0.f, 0.f);
}
else
{
camForward.normalize();
}
b3Scalar rollRad = roll * b3Scalar(0.01745329251994329547);
b3Quaternion rollRot(camForward, rollRad);
camUpVector = b3QuatRotate(rollRot, b3MakeVector3(0, 0, 1));
//gLightPos = b3MakeVector3(-50.f,30,100);
break;
}
default:
{
//b3Assert(0);
return;
}
};
}
b3Scalar yawRad = yaw * b3Scalar(0.01745329251994329547);// rads per deg
b3Scalar pitchRad = pitch * b3Scalar(0.01745329251994329547);// rads per deg
b3Quaternion pitchRot(camUpVector, pitchRad);
b3Vector3 right = camUpVector.cross(camForward);
b3Quaternion yawRot(right, -yawRad);
eyePos = b3Matrix3x3(pitchRot) * b3Matrix3x3(yawRot) * eyePos;
b3Scalar rollRad = 0.0;
b3Quaternion eyeRot;
int forwardAxis(-1);
switch (upAxis)
{
case 1:
forwardAxis = 2;
camUpVector = b3MakeVector3(0,1,0);
eyeRot.setEulerZYX(rollRad, yawRad, -pitchRad);
break;
case 2:
forwardAxis = 1;
camUpVector = b3MakeVector3(0,0,1);
eyeRot.setEulerZYX(yawRad, rollRad, pitchRad);
break;
default:
return;
};
eyePos[forwardAxis] = -distance;
camForward = b3MakeVector3(eyePos[0],eyePos[1],eyePos[2]);
if (camForward.length2() < B3_EPSILON)
{
camForward.setValue(1.f,0.f,0.f);
} else
{
camForward.normalize();
}
eyePos = b3Matrix3x3(eyeRot)*eyePos;
camUpVector = b3Matrix3x3(eyeRot)*camUpVector;
camPos = eyePos;
camPos += camTargetPos;